1
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Iacovacci V, Diller E, Ahmed D, Menciassi A. Medical Microrobots. Annu Rev Biomed Eng 2024; 26:561-591. [PMID: 38594937 DOI: 10.1146/annurev-bioeng-081523-033131] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/11/2024]
Abstract
Scientists around the world have long aimed to produce miniature robots that can be controlled inside the human body to aid doctors in identifying and treating diseases. Such microrobots hold the potential to access hard-to-reach areas of the body through the natural lumina. Wireless access has the potential to overcome drawbacks of systemic therapy, as well as to enable completely new minimally invasive procedures. The aim of this review is fourfold: first, to provide a collection of valuable anatomical and physiological information on the target working environments together with engineering tools for the design of medical microrobots; second, to provide a comprehensive updated survey of the technological state of the art in relevant classes of medical microrobots; third, to analyze currently available tracking and closed-loop control strategies compatible with the in-body environment; and fourth, to explore the challenges still in place, to steer and inspire future research.
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Affiliation(s)
- Veronica Iacovacci
- Department of Excellence Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy; ,
| | - Eric Diller
- Institute of Biomedical Engineering, University of Toronto, Toronto, Canada
- Robotics Institute, University of Toronto, Toronto, Canada
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Rüschlikon, Switzerland
| | - Arianna Menciassi
- Department of Excellence Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy; ,
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2
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Limpabandhu C, Hu Y, Ren H, Song W, Tse ZTH. Actuation technologies for magnetically guided catheters. MINIM INVASIV THER 2023; 32:137-152. [PMID: 37073683 DOI: 10.1080/13645706.2023.2198004] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/11/2022] [Accepted: 03/22/2023] [Indexed: 04/20/2023]
Abstract
Due to their wide range of clinical application possibilities, magnetic actuation technologies have grabbed the attention of researchers worldwide. The design, execution, and analysis of magnetic catheter systems have advanced significantly during the last decade. The review focuses on magnetic actuation for catheter steering and control of the device, which will be explored in detail in the following sections. There is a discussion of future work and the challenges of the review systems, and the conclusions are finally addressed.
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Affiliation(s)
- Chayabhan Limpabandhu
- School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
| | - Yihua Hu
- Department of Electronic Engineering, University of York, York, United Kingdom
| | - Hongliang Ren
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong
| | - Wenzhan Song
- School of Electrical and Computer Engineering, University of Georgia, GA, USA
| | - Zion Tsz Ho Tse
- School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
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3
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Lu M, Zhang Y, Lim CM, Ren H. Flexible Needle Steering with Tethered and Untethered Actuation: Current States, Targeting Errors, Challenges and Opportunities. Ann Biomed Eng 2023; 51:905-924. [PMID: 36943414 DOI: 10.1007/s10439-023-03163-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/25/2022] [Accepted: 02/05/2023] [Indexed: 03/23/2023]
Abstract
Accurate needle targeting is critical for many clinical procedures, such as transcutaneous biopsy or radiofrequency ablation of tumors. However, targeting errors may arise, limiting the widespread adoption of these procedures. Advances in flexible needle (FN) steering are emerging to mitigate these errors. This review summarizes the state-of-the-art developments of FNs and addresses possible targeting errors that can be overcome with steering actuation techniques. FN steering techniques can be classified as passive and active. Passive steering directly results from the needle-tissue interaction forces, whereas active steering requires additional forces to be applied at the needle tip, which enhances needle steerability. Therefore, the corresponding targeting errors of most passive FNs and active FNs are between 1 and 2 mm, and less than 1 mm, respectively. However, the diameters of active FNs range from 1.42 to 12 mm, which is larger than the passive steering needle varying from 0.5 to 1.4 mm. Therefore, the development of active FNs is an area of active research. These active FNs can be steered using tethered internal direct actuation or untethered external actuation. Examples of tethered internal direct actuation include tendon-driven, longitudinal segment transmission and concentric tube transmission. Tendon-driven FNs have various structures, and longitudinal segment transmission needles could be adapted to reduce tissue damage. Additionally, concentric tube needles have immediate advantages and clinical applications in natural orifice surgery. Magnetic actuation enables active FN steering with untethered external actuation and facilitates miniaturization. The challenges faced in the fabrication, sensing, and actuation methods of FN are analyzed. Finally, bio-inspired FNs may offer solutions to address the challenges faced in FN active steering mechanisms.
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Affiliation(s)
- Mingyue Lu
- The Key Laboratory of Advanced Manufacturing and Intelligent Technology, Harbin University of Science and Technology, Harbin, China
- Duke-NUS Graduate Medical School, Singapore, Singapore
- The Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
| | - Yongde Zhang
- The Key Laboratory of Advanced Manufacturing and Intelligent Technology, Harbin University of Science and Technology, Harbin, China
| | - Chwee Ming Lim
- The Department of Otolaryngology-Head and Neck Surgery, Singapore General Hospital, Singapore, Singapore
- Duke-NUS Graduate Medical School, Singapore, Singapore
| | - Hongliang Ren
- The Department of Electronic Engineering and the Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- The Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore.
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4
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Richter M, Kaya M, Sikorski J, Abelmann L, Kalpathy Venkiteswaran V, Misra S. Magnetic Soft Helical Manipulators with Local Dipole Interactions for Flexibility and Forces. Soft Robot 2023. [PMID: 36662545 DOI: 10.1089/soro.2022.0031] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/21/2023] Open
Abstract
Magnetic continuum manipulators (MCMs) are a class of continuum robots that can be actuated without direct contact by an external magnetic field. MCMs operating in confined workspaces, such as those targeting medical applications, require flexible magnetic structures that contain combinations of magnetic components and polymers to navigate long and tortuous paths. In cylindrical MCM designs, a significant trade-off exists between magnetic moment and bending flexibility as the ratio between length and diameter decreases. In this study, we propose a new MCM design framework that enables increasing diameter without compromising on flexibility and magnetic moment. Magnetic soft composite helices constitute bending regions of the MCM and are separated by permanent ring magnets. Local dipole interactions between the permanent magnets can reduce bending stiffness, depending on their size and spacing. For the particular segment geometry presented herein, the local dipole interactions result in a 31% increase in angular deflection of composite helices inside an external magnetic field, compared to helices without local interactions. In addition, we demonstrate fabrication, maneuverability, and example applications of a multisegment MCM in a phantom of the abdominal aorta, such as passing contrast dye and guidewires.
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Affiliation(s)
- Michiel Richter
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Mert Kaya
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.,Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen, and University Medical Centre Groningen, The Netherlands
| | - Jakub Sikorski
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Leon Abelmann
- KIST Europe Forschugsgesellschaft mbH, Saarbrücken, Germany.,MESA+ Research Institute, University of Twente, Enschede, The Netherlands
| | | | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.,Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen, and University Medical Centre Groningen, The Netherlands
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5
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Lim S, Du Y, Lee Y, Panda SK, Tong D, Khalid Jawed M. Fabrication, control, and modeling of robots inspired by flagella and cilia. BIOINSPIRATION & BIOMIMETICS 2022; 18:011003. [PMID: 36533860 DOI: 10.1088/1748-3190/aca63d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/21/2022] [Accepted: 11/25/2022] [Indexed: 06/17/2023]
Abstract
Flagella and cilia are slender structures that serve important functionalities in the microscopic world through their locomotion induced by fluid and structure interaction. With recent developments in microscopy, fabrication, biology, and modeling capability, robots inspired by the locomotion of these organelles in low Reynolds number flow have been manufactured and tested on the micro-and macro-scale, ranging from medicalin vivomicrobots, microfluidics to macro prototypes. We present a collection of modeling theories, control principles, and fabrication methods for flagellated and ciliary robots.
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Affiliation(s)
- Sangmin Lim
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yayun Du
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yongkyu Lee
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Shivam Kumar Panda
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Dezhong Tong
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - M Khalid Jawed
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
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6
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Fan Q, Lu J, Jia J, Qu J. 2D Magnetic Manipulation of a Micro-Robot in Glycerin Using Six Pairs of Magnetic Coils. MICROMACHINES 2022; 13:2144. [PMID: 36557444 PMCID: PMC9784892 DOI: 10.3390/mi13122144] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/22/2022] [Revised: 11/20/2022] [Accepted: 11/30/2022] [Indexed: 06/17/2023]
Abstract
This paper demonstrates the control system of a single magnetic micro-robot driven by combined coils. The combined coils consist of three pairs of Helmholtz coils and three pairs of Maxwell coils. The rotating magnetic field, gradient magnetic field, and combined magnetic field model of the combined coils were analyzed. To make the output magnetic field quickly converge to the reference point without steady-state error, the discrete-time optimal controller was designed based on the auto disturbance rejection technology. We have designed a closed-loop controller based on a position servo. The control system includes the position control and direction control of the micro-robot. To address problems with slow sampling frequency in visual feedback and inability to feed real-time position back to the control system, a Kalman filter algorithm was used to predict the position of the micro-robot in two-dimensional space. Simulations and experiments were carried out based on the proposed structure of combined coils and control scheme. The experimental results demonstrated the uniformity and excellent dynamic performance of the generated magnetic field.
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Affiliation(s)
- Qigao Fan
- College of Internet of Things Engineering, Jiangnan University, Wuxi 214000, China
| | - Jiawei Lu
- College of Internet of Things Engineering, Jiangnan University, Wuxi 214000, China
| | - Jie Jia
- College of Internet of Things Engineering, Jiangnan University, Wuxi 214000, China
| | - Juntian Qu
- Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China
- Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214000, China
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7
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A survey of catheter tracking concepts and methodologies. Med Image Anal 2022; 82:102584. [DOI: 10.1016/j.media.2022.102584] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/16/2021] [Revised: 08/01/2022] [Accepted: 08/11/2022] [Indexed: 11/23/2022]
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8
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Erin O, Raval S, Schwehr TJ, Pryor W, Barnoy Y, Bell A, Liu X, Mair LO, Weinberg IN, Krieger A, Diaz-Mercado Y. Enhanced Accuracy in Magnetic Actuation: Closed-loop Control of a Magnetic Agent with Low-Error Numerical Magnetic Model Estimation. IEEE Robot Autom Lett 2022; 7:9429-9436. [PMID: 36544557 PMCID: PMC9762677 DOI: 10.1109/lra.2022.3191047] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/25/2022]
Abstract
Magnetic actuation holds promise for wirelessly controlling small, magnetic surgical tools and may enable the next generation of ultra minimally invasive surgical robotic systems. Precise torque and force exertion are required for safe surgical operations and accurate state control. Dipole field estimation models perform well far from electromagnets but yield large errors near coils. Thus, manipulations near coils suffer from severe (10×) field modeling errors. We experimentally quantify closed-loop magnetic agent control performance by using both a highly erroneous dipole model and a more accurate numerical magnetic model to estimate magnetic forces and torques for any given robot pose in 2D. We compare experimental measurements with estimation errors for the dipole model and our finite element analysis (FEA) based model of fields near coils. With five different paths designed for this study, we demonstrate that FEA-based magnetic field modeling reduces positioning root-mean-square (RMS) errors by 48% to 79% as compared with dipole models. Models demonstrate close agreement for magnetic field direction estimation, showing similar accuracy for orientation control. Such improved magnetic modelling is crucial for systems requiring robust estimates of magnetic forces for positioning agents, particularly in force-sensitive environments like surgical manipulation.
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Affiliation(s)
- Onder Erin
- Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Suraj Raval
- Mechanical Engineering Department, University of Maryland, College Park, MD 20742, USA
| | - Trevor J Schwehr
- Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Will Pryor
- Computer Science Department, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Yotam Barnoy
- Computer Science Department, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Adrian Bell
- Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Xiaolong Liu
- Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Lamar O Mair
- Division of Magnetic Manipulation & Particle Research, Weinberg Medical Physics, Inc., North Bethesda, MD 20852, USA
| | - Irving N Weinberg
- Division of Magnetic Manipulation & Particle Research, Weinberg Medical Physics, Inc., North Bethesda, MD 20852, USA
| | - Axel Krieger
- Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Yancy Diaz-Mercado
- Mechanical Engineering Department, University of Maryland, College Park, MD 20742, USA
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9
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Liu Y, Mohanraj TG, Rajebi MR, Zhou L, Alambeigi F. Multiphysical Analytical Modeling and Design of A Magnetically Steerable Robotic Catheter for Treatment of Peripheral Artery Disease. IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2022; 27:1873-1881. [PMID: 36866033 PMCID: PMC9974172 DOI: 10.1109/tmech.2022.3174520] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/14/2023]
Abstract
This article presents a unique multiphysical analytical modeling framework and solution algorithm to provide an effective tool for design of magnetically steerable robotic catheters (MSRCs) experiencing external interaction loads. Particularly, in this study, we are interested in design and fabrication of a MSRC with flexural patterns for treatment of peripheral artery disease (PAD). Aside from the parameters involved in the magnetic actuation system and the external interaction loads acting on the MSRC, the considered flexural patterns have a critical role on the deformation behavior and steerability of the proposed MSRC. Therefore, to optimally design such MSRC, we utilized the proposed multiphysical modeling approach and thoroughly evaluated the influence of involved parameters on the performance of the MSRC via two simulations studies. We also conducted experimental studies in a free bending condition and in the presence of different external interaction loads on two custom-designed MSRCs to thoroughly evaluate the efficacy of the proposed multiphysical model and solution algorithm. Our analysis demonstrates the accuracy of the proposed approach and necessity of utilizing such models to optimally design a MSRC before fabrication procedure.
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Affiliation(s)
- Yang Liu
- Walker Department of Mechanical Engineering and the Texas Robotics at the University of Texas at Austin, Austin, TX, 78712, USA
| | - Tarunraj G Mohanraj
- Walker Department of Mechanical Engineering and the Texas Robotics at the University of Texas at Austin, Austin, TX, 78712, USA
| | - Mohammad R Rajebi
- Vascual and Interventional Radiology Section of Christus Spohn Hospital, Corpus Christi, TX, 78404, USA
| | - Lei Zhou
- Walker Department of Mechanical Engineering and the Texas Robotics at the University of Texas at Austin, Austin, TX, 78712, USA
| | - Farshid Alambeigi
- Walker Department of Mechanical Engineering and the Texas Robotics at the University of Texas at Austin, Austin, TX, 78712, USA
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10
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Dupont PE, Simaan N, Choset H, Rucker C. Continuum Robots for Medical Interventions. PROCEEDINGS OF THE IEEE. INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS 2022; 110:847-870. [PMID: 35756186 PMCID: PMC9231641 DOI: 10.1109/jproc.2022.3141338] [Citation(s) in RCA: 25] [Impact Index Per Article: 12.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/01/2023]
Abstract
Continuum robots are not constructed with discrete joints but, instead, change shape and position their tip by flexing along their entire length. Their narrow curvilinear shape makes them well suited to passing through body lumens, natural orifices, or small surgical incisions to perform minimally invasive procedures. Modeling and controlling these robots are, however, substantially more complex than traditional robots comprised of rigid links connected by discrete joints. Furthermore, there are many approaches to achieving robot flexure. Each presents its own design and modeling challenges, and to date, each has been pursued largely independently of the others. This article attempts to provide a unified summary of the state of the art of continuum robot architectures with respect to design for specific clinical applications. It also describes a unifying framework for modeling and controlling these systems while additionally explaining the elements unique to each architecture. The major research accomplishments are described for each topic and directions for the future progress needed to achieve widespread clinical use are identified.
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Affiliation(s)
- Pierre E Dupont
- Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA 02115 USA
| | - Nabil Simaan
- Department of Mechanical Engineering, the Department of Computer Science, and the Department of Otolaryngology, Vanderbilt University, Nashville, TN 37235 USA
| | - Howie Choset
- Mechanical Engineering Department, the Biomedical Engineering Department, and the Robotics Institute, Carnegie Mellon, Pittsburgh, PA 15213 USA
| | - Caleb Rucker
- Department of Mechanical, Aerospace, and Biomedical Engineering, The University of Tennessee, Knoxville, TN 37996 USA
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11
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Pozhitkova AV, Kladko DV, Vinnik DA, Taskaev SV, Vinogradov VV. Reprogrammable Soft Swimmers for Minimally Invasive Thrombus Extraction. ACS APPLIED MATERIALS & INTERFACES 2022; 14:23896-23908. [PMID: 35537068 DOI: 10.1021/acsami.2c04745] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Thrombosis-related diseases are the primary cause of death in the world. Despite recent advances in thrombosis treatment methods, their invasive nature remains a crucial factor, which leads to considerable deadly consequences. Soft magnetic robots are attracting widespread interest due to their fast response, remote actuation, and shape reprogrammability and can potentially avoid the side effects of conventional approaches. This paper outlines a new approach to the thrombosis treatment via reprogrammable magnetic soft robots that penetrate, hook, and extract the plasma clots in a vein-mimicking system under applied rotating magnetic fields. We present shape-switching bioinspired soft swimmers, capable of locomotion by different mechanisms in vein-mimicking flow conditions and whose swimming efficiency is similar to animals. Further, we demonstrate the potential of a developed robot for minimally invasive thromboextraction with and without fibrinolytic usage, including hooking the plasma clot for 3.1 ± 1.1 min and extracting it from the vein-mimicking system under the applied magnetic fields. We consider an interesting solution for thrombosis treatment to avoid substantial drawbacks of the existing methods.
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Affiliation(s)
- Anna V Pozhitkova
- International Institute "Solution Chemistry of Advanced Materials and Technology", ITMO University, St. Petersburg 197101, Russia
| | - Daniil V Kladko
- International Institute "Solution Chemistry of Advanced Materials and Technology", ITMO University, St. Petersburg 197101, Russia
| | - Denis A Vinnik
- National Research South Ural State University, Chelyabinsk 454080, Russia
| | - Sergey V Taskaev
- National Research South Ural State University, Chelyabinsk 454080, Russia
- Chelyabinsk State University, Chelyabinsk 454001, Russia
| | - Vladimir V Vinogradov
- International Institute "Solution Chemistry of Advanced Materials and Technology", ITMO University, St. Petersburg 197101, Russia
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12
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Liu D, Liu X, Chen Z, Zuo Z, Tang X, Huang Q, Arai T. Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale. CYBORG AND BIONIC SYSTEMS 2022; 2022:9850832. [PMID: 36285316 PMCID: PMC9494713 DOI: 10.34133/2022/9850832] [Citation(s) in RCA: 15] [Impact Index Per Article: 7.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/10/2021] [Accepted: 01/23/2022] [Indexed: 01/12/2023] Open
Abstract
Remotely controlled soft continuum robots with active steering capability have broad prospects in medical applications. However, conventional continuum robots have the miniaturization challenge. This paper presents a microscale soft continuum microrobot with steering and locomotion capabilities based on magnetic field actuation. The magnetically driven soft continuum microrobot is made of NdFeB particles and polydimethylsiloxane (PDMS), and it can be as small as 200 μm in diameter. Moreover, a hydrogel layer is covered on the surface of the microrobot, which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and substrate. The performance test indicates the soft continuum microrobot featured excellent control and steering capabilities. The experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation environment. Moreover, the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascular manipulation.
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Affiliation(s)
- Dan Liu
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Xiaoming Liu
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Zhuo Chen
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Zhaofeng Zuo
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Xiaoqing Tang
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Qiang Huang
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Tatsuo Arai
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Tokyo 182-8585, Japan
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13
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Wang J, Xue J, Yuan S, Tan J, Song S, Meng MQH. Kinematic Modeling of Magnetically-Actuated Robotic Catheter in Nonlinearly-Coupled Multi-Field. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3104620] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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14
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Shao Y, Fahmy A, Li M, Li C, Zhao W, Sienz J. Study on Magnetic Control Systems of Micro-Robots. Front Neurosci 2021; 15:736730. [PMID: 34512256 PMCID: PMC8432292 DOI: 10.3389/fnins.2021.736730] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/05/2021] [Accepted: 07/31/2021] [Indexed: 11/21/2022] Open
Abstract
Magnetic control systems of micro-robots have recently blossomed as one of the most thrilling areas in the field of medical treatment. For the sake of learning how to apply relevant technologies in medical services, we systematically review pioneering works published in the past and divide magnetic control systems into three categories: stationary electromagnet control systems, permanent magnet control systems and mobile electromagnet control systems. Based on this, we ulteriorly analyze and illustrate their respective strengths and weaknesses. Furthermore, aiming at surmounting the instability of magnetic control system, we utilize SolidWorks2020 software to partially modify the SAMM system to make its final overall thickness attain 111 mm, which is capable to control and observe the motion of the micro-robot under the microscope system in an even better fashion. Ultimately, we emphasize the challenges and open problems that urgently need to be settled, and summarize the direction of development in this field, which plays a momentous role in the wide and safe application of magnetic control systems of micro-robots in clinic.
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Affiliation(s)
- Youjia Shao
- School of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China.,Faculty of Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR, China
| | - Ashraf Fahmy
- Faculty of Science and Engineering, Swansea University, Swansea, United Kingdom.,Department of Electrical Power and Machines, School of Engineering, Helwan University, Helwan, Egypt
| | - Ming Li
- School of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China
| | - Chunxu Li
- School of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China.,Centre for Robotics and Neural Systems, University of Plymouth, Plymouth, United Kingdom
| | - Wencang Zhao
- School of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China
| | - Johann Sienz
- Faculty of Science and Engineering, Swansea University, Swansea, United Kingdom
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15
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Lussi J, Mattmann M, Sevim S, Grigis F, De Marco C, Chautems C, Pané S, Puigmartí‐Luis J, Boehler Q, Nelson BJ. A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:e2101290. [PMID: 34272935 PMCID: PMC8456283 DOI: 10.1002/advs.202101290] [Citation(s) in RCA: 12] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/07/2021] [Revised: 06/10/2021] [Indexed: 05/02/2023]
Abstract
Minimally invasive robotic surgery often requires functional tools that can change their compliance to adapt to the environment and surgical needs. This paper proposes a submillimeter continuous variable stiffness catheter equipped with a phase-change alloy that has a high stiffness variation in its different states, allowing for rapid compliance control. Variable stiffness is achieved through a variable phase boundary in the alloy due to a controlled radial temperature gradient. This catheter can be safely navigated in its soft state and rigidified to the required stiffness during operation to apply a desired force at the tip. The maximal contact force that the catheter applies to tissue can be continuously modified by a factor of 400 (≈20 mN-8 N). The catheter is equipped with a magnet and a micro-gripper to perform a fully robotic ophthalmic minimally invasive surgery on an eye phantom by means of an electromagnetic navigation system.
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Affiliation(s)
- Jonas Lussi
- Institute of Robotics and Intelligent SystemsETH ZurichZurichCH‐8092Switzerland
| | - Michael Mattmann
- Institute of Robotics and Intelligent SystemsETH ZurichZurichCH‐8092Switzerland
| | - Semih Sevim
- Institute of Chemical and BioengineeringETH ZurichVladimir Prelog Weg 1ZurichCH‐8093Switzerland
| | - Fabian Grigis
- Institute of Robotics and Intelligent SystemsETH ZurichZurichCH‐8092Switzerland
| | - Carmela De Marco
- Institute of Robotics and Intelligent SystemsETH ZurichZurichCH‐8092Switzerland
| | - Christophe Chautems
- Institute of Robotics and Intelligent SystemsETH ZurichZurichCH‐8092Switzerland
| | - Salvador Pané
- Institute of Robotics and Intelligent SystemsETH ZurichZurichCH‐8092Switzerland
| | - Josep Puigmartí‐Luis
- Departament de Ciència dels Materials i Química FísicaInstitut de Química Teòrica i ComputacionalBarcelona08028Spain
- ICREACatalan Institution for Research and Advanced StudiesPg. Lluís Companys 23Barcelona08010Spain
| | - Quentin Boehler
- Institute of Robotics and Intelligent SystemsETH ZurichZurichCH‐8092Switzerland
| | - Bradley J. Nelson
- Institute of Robotics and Intelligent SystemsETH ZurichZurichCH‐8092Switzerland
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16
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Zhou C, Yang Y, Wang J, Wu Q, Gu Z, Zhou Y, Liu X, Yang Y, Tang H, Ling Q, Wang L, Zang J. Ferromagnetic soft catheter robots for minimally invasive bioprinting. Nat Commun 2021; 12:5072. [PMID: 34417473 PMCID: PMC8379157 DOI: 10.1038/s41467-021-25386-w] [Citation(s) in RCA: 48] [Impact Index Per Article: 16.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/19/2020] [Accepted: 07/30/2021] [Indexed: 11/09/2022] Open
Abstract
In vivo bioprinting has recently emerged as a direct fabrication technique to create artificial tissues and medical devices on target sites within the body, enabling advanced clinical strategies. However, existing in vivo bioprinting methods are often limited to applications near the skin or require open surgery for printing on internal organs. Here, we report a ferromagnetic soft catheter robot (FSCR) system capable of in situ computer-controlled bioprinting in a minimally invasive manner based on magnetic actuation. The FSCR is designed by dispersing ferromagnetic particles in a fiber-reinforced polymer matrix. This design results in stable ink extrusion and allows for printing various materials with different rheological properties and functionalities. A superimposed magnetic field drives the FSCR to achieve digitally controlled printing with high accuracy. We demonstrate printing multiple patterns on planar surfaces, and considering the non-planar surface of natural organs, we then develop an in situ printing strategy for curved surfaces and demonstrate minimally invasive in vivo bioprinting of hydrogels in a rat model. Our catheter robot will permit intelligent and minimally invasive bio-fabrication.
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Affiliation(s)
- Cheng Zhou
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Youzhou Yang
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Jiaxin Wang
- Department of Urology, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China
| | - Qingyang Wu
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Zhuozhi Gu
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Yuting Zhou
- The Key Laboratory of Bionic Engineering (Ministry of Education) and the College of Biological and Agricultural Engineering, Jilin University, Changchun, China
| | - Xurui Liu
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Yueying Yang
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Hanchuan Tang
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Qing Ling
- Department of Urology, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China
| | - Liu Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui, China.
| | - Jianfeng Zang
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
- The State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China.
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17
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Alsunaydih FN, Yuce MR. Next-generation ingestible devices: sensing, locomotion and navigation. Physiol Meas 2021; 42. [PMID: 33706294 DOI: 10.1088/1361-6579/abedc0] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/18/2020] [Accepted: 03/11/2021] [Indexed: 12/15/2022]
Abstract
There is significant interest in exploring the human body's internal activities and measuring important parameters to understand, treat and diagnose the digestive system environment and related diseases. Wireless capsule endoscopy (WCE) is widely used for gastrointestinal (GI) tract exploration due to its effectiveness as it provides no pain and is totally tolerated by the patient. Current ingestible sensing technology provides a valuable diagnostic tool to establish a platform for monitoring the physiological and biological activities inside the human body. It is also used for visualizing the GI tract to observe abnormalities by recording the internal cavity while moving. However, the capsule endoscopy is still passive, and there is no successful locomotion method to control its mobility through the whole GI tract. Drug delivery, localization of abnormalities, cost reduction and time consumption are improvements that can be gained from having active ingestible WCEs. In this article, the current technological developments of ingestible devices including sensing, locomotion and navigation are discussed and compared. The main features required to implement next-generation active WCEs are explored. The methods are evaluated in terms of the most important features such as safety, velocity, complexity of design, control, and power consumption.
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Affiliation(s)
- Fahad N Alsunaydih
- Department of Electrical and Computer Systems Engineering, Monash University, Melbourne, VIC, Australia.,Department of Electrical Engineering, Qassim University, Onizah, Qassim, Saudi Arabia
| | - Mehmet R Yuce
- Department of Electrical and Computer Systems Engineering, Monash University, Melbourne, VIC, Australia
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18
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Lim A, Schonewille A, Forbrigger C, Looi T, Drake J, Diller E. Design and Comparison of Magnetically-Actuated Dexterous Forceps Instruments for Neuroendoscopy. IEEE Trans Biomed Eng 2021; 68:846-856. [PMID: 32746054 DOI: 10.1109/tbme.2020.3007581] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/18/2022]
Abstract
Robot-assisted minimally invasive surgical (MIS) techniques offer improved instrument precision and dexterity, reduced patient trauma and risk, and promise to lessen the skill gap among surgeons. These approaches are common in general surgery, urology, and gynecology. However, MIS techniques remain largely absent for surgical applications within narrow, confined workspaces, such as neuroendoscopy. The limitation stems from a lack of small yet dexterous robotic tools. In this work, we present the first instance of a surgical robot with a direct magnetically-driven end effector capable of being deployed through a standard neuroendoscopic working channel (3.2 mm outer diameter) and operate at the neuroventricular scale. We propose a physical model for the gripping performance of three unique end-effector magnetization profiles and mechanical designs. Rates of blocking force per external magnetic flux density magnitude were 0.309 N/T, 0.880 N/T, and 0.351 N/T for the three designs which matched the physical model's prediction within 14.9% error. The rate of gripper closure per external magnetic flux density had a mean percent error of 11.2% compared to the model. The robot's performance was qualitatively evaluated during a pineal region tumor resection on a tumor analogue in a silicone brain phantom. These results suggest that wireless magnetic actuation may be feasible for dexterously manipulating tissue during minimally invasive neurosurgical procedures.
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19
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Salmanipour S, Youssefi O, Diller ED. Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2020.3016511] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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20
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Abstract
This paper provides a brief history of medical robotic systems. Since the first use of robots in medical procedures, there have been countless companies competing to developed robotic systems in hopes to dominate a field. Many companies have succeeded, and many have failed. This review paper shows the timeline history of some of the old and most successful medical robots and new robotic systems. As the patents of the most successful system, i.e., Da Vinci® Surgical System, have expired or are expiring soon, this paper can provide some insights for new designers and manufacturers to explore new opportunities in this field.
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21
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Norouzi-Ghazbi S, Mehrkish A, Abdulhafiz I, Abbasi-Hashemi T, Mahdi A, Janabi-Sharifi F. Design and experimental evaluation of an automated catheter operating system. Artif Organs 2021; 45:E171-E186. [PMID: 33237609 DOI: 10.1111/aor.13870] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/07/2020] [Revised: 11/10/2020] [Accepted: 11/16/2020] [Indexed: 12/12/2022]
Abstract
Manual catheter-based interventions (CBIs) suffer from exposure of the interventionalists to X-ray, and dependence of their performance on the expertise and fatigue level of the interventionalists. Robot-assisted catheterization systems (RACS) have been introduced in recent years to improve the efficiency of CBIs; however, using them is still associated with some difficulties such as set-up dependency to a specific type of intervention instrument, not being portable, and offering limited options of operation modes. The objective of this research is to develop a new RACS to address these shortcomings. We propose Althea II as an improvement for our previously introduced RACS, Althea I. Althea II is designed for both research purposes and clinical applications including catheter-based cardiovascular interventions. Althea II benefits from a novel structural design leading to a significantly reduced weight and making the device inclusive for a broader range of intervention instruments. Also, a tip detection algorithm is developed and integrated into the graphical user interface (GUI) to enable image-based navigation, and accordingly, fully automatic navigation. Althea II has improved the outcome of catheter-based interventions by increased accuracy and precision of the intervention. The system can navigate the catheter tip to a designated target with an accuracy higher than 90% in both velocity and positioning mode. The device is associated with an upgraded GUI equipped with a strong tip detection algorithm with an accuracy of 0.05 mm. Moreover, Althea II gains from a quicker assembly time (20 minutes, which equals five times faster). The independency from specific catheters, several modes of function, an imaged-based feedback control, portability, and a remote function should allow operation even from beginners and reduce X-ray exposure. The preliminary research studies verified the accuracy and repeatability of Althea II, demonstrated the feasibility and applicability of using the set-up in multiple applications, and highlighted the improved set-up capabilities over the currently available RACS.
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Affiliation(s)
| | - Ali Mehrkish
- Mechanical and Industrial Engineering, Ryerson University, Toronto, ON, Canada
| | | | | | - Anas Mahdi
- Biomedical Engineering, Ryerson University, Toronto, ON, Canada
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22
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Kim MC, Kim ES, Park JO, Choi E, Kim CS. Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope. SENSORS 2020; 20:s20205728. [PMID: 33050155 PMCID: PMC7601872 DOI: 10.3390/s20205728] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/02/2020] [Revised: 10/06/2020] [Accepted: 10/07/2020] [Indexed: 12/11/2022]
Abstract
Recently an active locomotive capsule endoscope (CE) for diagnosis and treatment in the digestive system has been widely studied. However, real-time localization to achieve precise feedback control and record suspicious positioning in the intestine is still challenging owing to the limitation of capsule size, relatively large diagnostic volume, and compatibility of other devices in clinical site. To address this issue, we present a novel robotic localization sensing methodology based on the kinematics of a planar cable driven parallel robot (CDPR) and measurements of the quasistatic magnetic field of a Hall effect sensor (HES) array. The arrangement of HES and the Levenberg-Marquardt (LM) algorithm are applied to estimate the position of the permanent magnet (PM) in the CE, and the planar CDPR is incorporated to follow the PM in the CE. By tracking control of the planar CDPR, the position of PM in any arbitrary position can be obtained through robot forward kinematics with respect to the global coordinates at the bedside. The experimental results show that the root mean square error (RMSE) for the estimated position value of PM was less than 1.13 mm in the X, Y, and Z directions and less than 1.14° in the θ and φ orientation, where the sensing space could be extended to ±70 mm for the given 34 × 34 mm2 HES array and the average moving distance in the Z-direction is 40 ± 2.42 mm. The proposed method of the robotic sensing with HES and CDPR may advance the sensing space expansion technology by utilizing the provided single sensor module of limited sensible volume.
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Affiliation(s)
- Min-Cheol Kim
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea; (M.-C.K.); (J.-O.P.); (E.C.)
| | - Eui-Sun Kim
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea;
| | - Jong-Oh Park
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea; (M.-C.K.); (J.-O.P.); (E.C.)
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea;
| | - Eunpyo Choi
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea; (M.-C.K.); (J.-O.P.); (E.C.)
| | - Chang-Sei Kim
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea; (M.-C.K.); (J.-O.P.); (E.C.)
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea;
- Correspondence:
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23
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Rabinovich EP, Capek S, Kumar JS, Park MS. Tele-robotics and artificial-intelligence in stroke care. J Clin Neurosci 2020; 79:129-132. [PMID: 33070881 DOI: 10.1016/j.jocn.2020.04.125] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/25/2020] [Accepted: 04/13/2020] [Indexed: 01/17/2023]
Abstract
In the last forty years, the field of medicine has experienced dramatic shifts in technology-enhanced surgical procedures - from its initial use in 1985 for neurosurgical biopsies to current implementation of systems such as magnetic-guided catheters for endovascular procedures. Systems such as the Niobe Magnetic Navigation system and CorPath GRX have allowed for utilization of a fully integrated surgical robotic systems for perioperative manipulation, as well as tele-controlled manipulation systems for telemedicine. These robotic systems hold tremendous potential for future implementation in cerebrovascular procedures, but lack of relevant clinical experience and uncharted ethical and legal territory for real-life tele-robotics have stalled their adoption for neurovascular surgery, and might present significant challenges for future development and widespread implementation. Yet, the promise that these technologies hold for dramatically improving the quality and accessibility of cerebrovascular procedures such as thrombectomy for acute stroke, drives the research and development of surgical robotics. These technologies, coupled with artificial intelligence (AI) capabilities such as machine learning, deep-learning, and outcome-based analyses and modifications, have the capability to uncover new dimensions within the realm of cerebrovascular surgery.
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Affiliation(s)
- Emily P Rabinovich
- University of Virginia School of Medicine, 1215 Lee Street, Charlottesville, VA 22908, USA
| | - Stepan Capek
- Department of Neurological Surgery, University of Virginia, 1215 Lee Street, Charlottesville, VA 22908, USA; 2nd Faculty of Medicine, Charles University in Prague, Prague, Czech Republic
| | - Jeyan S Kumar
- Department of Neurological Surgery, University of Virginia, 1215 Lee Street, Charlottesville, VA 22908, USA
| | - Min S Park
- Department of Neurological Surgery, University of Virginia, 1215 Lee Street, Charlottesville, VA 22908, USA.
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24
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da Veiga T, Chandler JH, Lloyd P, Pittiglio G, Wilkinson NJ, Hoshiar AK, Harris RA, Valdastri P. Challenges of continuum robots in clinical context: a review. ACTA ACUST UNITED AC 2020. [DOI: 10.1088/2516-1091/ab9f41] [Citation(s) in RCA: 40] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
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25
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Tariverdi A, Venkiteswaran VK, Martinsen ØG, Elle OJ, Tørresen J, Misra S. Dynamic modeling of soft continuum manipulators using lie group variational integration. PLoS One 2020; 15:e0236121. [PMID: 32697813 PMCID: PMC7375556 DOI: 10.1371/journal.pone.0236121] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/13/2020] [Accepted: 06/29/2020] [Indexed: 11/18/2022] Open
Abstract
This paper presents the derivation and experimental validation of algorithms for modeling and estimation of soft continuum manipulators using Lie group variational integration. Existing approaches are generally limited to static and quasi-static analyses, and are not sufficiently validated for dynamic motion. However, in several applications, models need to consider the dynamical behavior of the continuum manipulators. The proposed modeling and estimation formulation is obtained from a discrete variational principle, and therefore grants outstanding conservation properties to the continuum mechanical model. The main contribution of this article is the experimental validation of the dynamic model of soft continuum manipulators, including external torques and forces (e.g., generated by magnetic fields, friction, and the gravity), by carrying out different experiments with metal rods and polymer-based soft rods. To consider dissipative forces in the validation process, distributed estimation filters are proposed. The experimental and numerical tests also illustrate the algorithm's performance on a magnetically-actuated soft continuum manipulator. The model demonstrates good agreement with dynamic experiments in estimating the tip position of a Polydimethylsiloxane (PDMS) rod. The experimental results show an average absolute error and maximum error in tip position estimation of 0.13 mm and 0.58 mm, respectively, for a manipulator length of 60.55 mm.
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Affiliation(s)
| | | | - Ørjan Grøttem Martinsen
- Department of Physics, University of Oslo, Oslo, Norway
- Department of Clinical and Biomedical Engineering, Oslo University Hospital, Oslo, Norway
| | - Ole Jacob Elle
- The Intervention Centre, Oslo University Hospital, Oslo, Norway
- Department of Informatics, University of Oslo, Oslo, Norway
| | - Jim Tørresen
- Department of Informatics, University of Oslo, Oslo, Norway
| | - Sarthak Misra
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
- Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, Groningen, The Netherlands
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26
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Hwang J, Kim JY, Choi H. A review of magnetic actuation systems and magnetically actuated guidewire- and catheter-based microrobots for vascular interventions. INTEL SERV ROBOT 2020. [DOI: 10.1007/s11370-020-00311-0] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022]
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27
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Azizi A, Tremblay CC, Gagné K, Martel S. Using the fringe field of a clinical MRI scanner enables robotic navigation of tethered instruments in deeper vascular regions. Sci Robot 2019; 4:4/36/eaax7342. [PMID: 33137734 DOI: 10.1126/scirobotics.aax7342] [Citation(s) in RCA: 43] [Impact Index Per Article: 8.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/04/2019] [Accepted: 10/29/2019] [Indexed: 12/24/2022]
Abstract
Navigating tethered instruments through the vasculatures to reach deeper physiological locations presently inaccessible would extend the applicability of many medical interventions, including but not limited to local diagnostics, imaging, and therapies. Navigation through narrower vessels requires minimizing the diameter of the instrument, resulting in a decrease of its stiffness until steerability becomes unpractical, while pushing the instrument at the insertion site to counteract the friction forces from the vessel walls caused by the bending of the instrument. To reach beyond the limit of using a pushing force alone, we report a method relying on a complementary directional pulling force at the tip created by gradients resulting from the magnetic fringe field emanating outside a clinical magnetic resonance imaging (MRI) scanner. The pulling force resulting from gradients exceeding 2 tesla per meter in a space that supports human-scale interventions allows the use of smaller magnets, such as the deformable spring as described here, at the tip of the instrument. Directional forces are achieved by robotically positioning the patient at predetermined successive locations inside the fringe field, a method that we refer to as fringe field navigation (FFN). We show through in vitro and in vivo experiments that x-ray-guided FFN could navigate microguidewires through complex vasculatures well beyond the limit of manual procedures and existing magnetic platforms. Our approach facilitated miniaturization of the instrument by replacing the torque from a relatively weak magnetic field with a configuration designed to exploit the superconducting magnet-based directional forces available in clinical MRI rooms.
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Affiliation(s)
- Arash Azizi
- Nanorobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, QC, Canada
| | - Charles C Tremblay
- Nanorobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, QC, Canada
| | - Kévin Gagné
- Nanorobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, QC, Canada
| | - Sylvain Martel
- Nanorobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, QC, Canada.
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28
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Forbrigger C, Lim A, Onaizah O, Salmanipour S, Looi T, Drake J, Diller ED. Cable-Less, Magnetically Driven Forceps for Minimally Invasive Surgery. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2894504] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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29
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Kafash Hoshiar A, Jeon S, Kim K, Lee S, Kim JY, Choi H. Steering Algorithm for a Flexible Microrobot to Enhance Guidewire Control in a Coronary Angioplasty Application. MICROMACHINES 2018; 9:mi9120617. [PMID: 30477149 PMCID: PMC6315821 DOI: 10.3390/mi9120617] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/10/2018] [Revised: 11/09/2018] [Accepted: 11/20/2018] [Indexed: 01/31/2023]
Abstract
Magnetically driven microrobots have been widely studied for various biomedical applications in the past decade. An important application of these biomedical microrobots is heart disease treatment. In intravascular treatments, a particular challenge is the submillimeter-sized guidewire steering; this requires a new microrobotic approach. In this study, a flexible microrobot was fabricated by the replica molding method, which consists of three parts: (1) a flexible polydimethylsiloxane (PDMS) body, (2) two permanent magnets, and (3) a micro-spring connector. A mathematical model was developed to describe the relationship between the magnetic field and the deformation. A system identification approach and an algorithm were proposed for steering. The microrobot was fabricated, and the models for steering were experimentally validated under a magnetic field intensity of 15 mT. Limitations to control were identified, and the microrobot was steered in an arbitrary path using the proposed model. Furthermore, the flexible microrobot was steered using the guidewire within a three-dimensional (3D) transparent phantom of the right coronary artery filled with water, to show the potential application in a realistic environment. The flexible microrobot presented here showed promising results for enhancing guidewire steering in percutaneous coronary intervention (PCI).
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Affiliation(s)
- Ali Kafash Hoshiar
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Sungwoong Jeon
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Kangho Kim
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Seungmin Lee
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Jin-Young Kim
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Hongsoo Choi
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
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30
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Greigarn T, Poirot NL, Xu X, Çavuşoğlu MC. Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots. IEEE Robot Autom Lett 2018; 4:145-152. [PMID: 30547093 DOI: 10.1109/lra.2018.2881987] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Robot-assisted medical interventions, such as robotic catheter ablation, often require the robot to perform tasks on a tissue surface. This paper presents a task-space motion planning method that generates actuation trajectories which steer the end- effector of the MRI-actuated robot along desired trajectories on the surface. The continuum robot is modeled using the pseudo-rigid-body model, where the continuum body of the robot is approximated by rigid links joined by flexible joints. The quasistatic motion model of the robot is formulated as a potential energy minimization problem. The Jacobian of the quasistatic motion model is used in calculating the actuations that steer the tip in the desired directions. The proposed method is validated experimentally in a clinical 3-T MRI scanner.
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Affiliation(s)
- Tipakorn Greigarn
- Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH
| | - Nate Lombard Poirot
- Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH
| | - Xinyang Xu
- Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH
| | - M Cenk Çavuşoğlu
- Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH
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Shen H, Wang C, Xie L, Zhou S, Gu L, Xie H. A novel remote-controlled robotic system for cerebrovascular intervention. Int J Med Robot 2018; 14:e1943. [PMID: 30062697 DOI: 10.1002/rcs.1943] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/07/2018] [Revised: 05/18/2018] [Accepted: 06/26/2018] [Indexed: 12/25/2022]
Abstract
BACKGROUND In cerebrovascular intervention (CVI), the use of robots has considerable advantages over conventional surgery. This study introduces a remote-controlled robotic system, including the first in vivo proof-of-concept trial. METHODS The robotic system uses a master-slave control strategy. Omega 3 was selected as the master manipulator, and the slave side executed the procedure of inserting the guidewire and balloon catheter, and angiography. The first in vivo trial was conducted to test whether the guidewire could be successfully moved from a pig's femoral artery to its carotid artery using our robotic system. RESULTS The insertion of the guidewire and balloon catheter and the angiography were successfully accomplished without any vascular rupture. The guidewire was successfully inserted into the secondary branches of the pig's carotid. The robot-assisted surgery took a little more time than manual surgery. CONCLUSIONS The successful first in vivo trial indicates the feasibility and effectiveness of the robotic system.
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Affiliation(s)
- Hao Shen
- Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China
| | - Cheng Wang
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China
| | - Le Xie
- Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China.,School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Shoujun Zhou
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China
| | - Lixu Gu
- School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Hongzhi Xie
- Peking Union Medical College Hospital, Beijing, China
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Taddese AZ, Slawinski PR, Pirotta M, De Momi E, Obstein KL, Valdastri P. Enhanced Real-Time Pose Estimation for Closed-Loop Robotic Manipulation of Magnetically Actuated Capsule Endoscopes. Int J Rob Res 2018; 37:890-911. [PMID: 30150847 PMCID: PMC6108552 DOI: 10.1177/0278364918779132] [Citation(s) in RCA: 63] [Impact Index Per Article: 10.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
Abstract
Pose estimation methods for robotically guided magnetic actuation of capsule endoscopes have recently enabled trajectory following and automation of repetitive endoscopic maneuvers. However, these methods face significant challenges in their path to clinical adoption including the presence of regions of magnetic field singularity, where the accuracy of the system degrades, and the need for accurate initialization of the capsule's pose. In particular, the singularity problem exists for any pose estimation method that utilizes a single source of magnetic field if the method does not rely on the motion of the magnet to obtain multiple measurements from different vantage points. We analyze the workspace of such pose estimation methods with the use of the point-dipole magnetic field model and show that singular regions exist in areas where the capsule is nominally located during magnetic actuation. Since the dipole model can approximate most magnetic field sources, the problem discussed herein pertains to a wider set of pose estimation techniques. We then propose a novel hybrid approach employing static and time-varying magnetic field sources and show that this system has no regions of singularity. The proposed system was experimentally validated for accuracy, workspace size, update rate and performance in regions of magnetic singularity. The system performed as well or better than prior pose estimation methods without requiring accurate initialization and was robust to magnetic singularity. Experimental demonstration of closed-loop control of a tethered magnetic device utilizing the developed pose estimation technique is provided to ascertain its suitability for robotically guided capsule endoscopy. Hence, advances in closed-loop control and intelligent automation of magnetically actuated capsule endoscopes can be further pursued toward clinical realization by employing this pose estimation system.
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Affiliation(s)
- Addisu Z. Taddese
- Science and Technology of Robotics in Medicine (STORM) Laboratory USA, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Piotr R. Slawinski
- Science and Technology of Robotics in Medicine (STORM) Laboratory USA, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Marco Pirotta
- Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy
| | - Elena De Momi
- Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy
| | - Keith L. Obstein
- Science and Technology of Robotics in Medicine (STORM) Laboratory USA, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
- Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN, USA
| | - Pietro Valdastri
- Science and Technology of Robotics in Medicine (STORM) Laboratory UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK
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33
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Roizenblatt M, Edwards TL, Gehlbach PL. Robot-assisted vitreoretinal surgery: current perspectives. ROBOTIC SURGERY (AUCKLAND) 2018; 5:1-11. [PMID: 29527537 PMCID: PMC5842029 DOI: 10.2147/rsrr.s122301] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Indexed: 11/25/2022]
Abstract
Vitreoretinal microsurgery is among the most technically challenging of the minimally invasive surgical techniques. Exceptional precision is required to operate on micron scale targets presented by the retina while also maneuvering in a tightly constrained and fragile workspace. These challenges are compounded by inherent limitations of the unassisted human hand with regard to dexterity, tremor and precision in positioning instruments. The limited human ability to visually resolve targets on the single-digit micron scale is a further limitation. The inherent attributes of robotic approaches therefore, provide logical, strategic and promising solutions to the numerous challenges associated with retinal microsurgery. Robotic retinal surgery is a rapidly emerging technology that has witnessed an exponential growth in capabilities and applications over the last decade. There is now a worldwide movement toward evaluating robotic systems in an expanding number of clinical applications. Coincident with this expanding application is growth in the number of laboratories committed to "robotic medicine". Recent technological advances in conventional retina surgery have also led to tremendous progress in the surgeon's capabilities, enhanced outcomes, a reduction of patient discomfort, limited hospitalization and improved safety. The emergence of robotic technology into this rapidly advancing domain is expected to further enhance important aspects of the retinal surgery experience for the patients, surgeons and society.
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Affiliation(s)
- Marina Roizenblatt
- Department of Ophthalmology, Wilmer Eye Institute, The Johns Hopkins University School of Medicine, Baltimore, MD, USA
- Department of Ophthalmology, Federal University of São Paulo, São Paulo, Brazil,
| | - Thomas L Edwards
- Department of Clinical Neurosciences, University of Oxford, Royal Victorian Eye and Ear Hospital, Melbourne, VIC, Australia
| | - Peter L Gehlbach
- Department of Ophthalmology, Federal University of São Paulo, São Paulo, Brazil,
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34
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Edelmann J, Petruska AJ, Nelson BJ. Estimation-Based Control of a Magnetic Endoscope without Device Localization. ACTA ACUST UNITED AC 2018. [DOI: 10.1142/s2424905x18500022] [Citation(s) in RCA: 25] [Impact Index Per Article: 4.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
Magnetically controlled catheters and endoscopes can improve minimally invasive procedures as a result of their increased maneuverability when combined with modern magnetic steering systems. However, such systems have two distinct shortcomings: they require continuous information about the location of the instrument inside the human body and they rely on models that accurately capture the device behavior, which are difficult to obtain in realistic settings. To address both of these issues, we propose a control algorithm that continuously estimates a magnetic endoscope’s response to changes in the actuating magnetic field. Experiments in a structured visual environment show that the control method is able to follow image-based trajectories under different initial conditions with an average control error that measures 1.8 % of the trajectory length. The usefulness for medical procedures is demonstrated with a bronchoscopic inspection task. In a proof-of-concept study, a custom 2[Formula: see text]mm diameter miniature camera endoscope is navigated through an anatomically correct lung phantom in a clinician-controlled manner. This represents the first demonstration of the controlled manipulation of a magnetic device without localization, which is critical for a wide range of medical procedures.
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Affiliation(s)
- Janis Edelmann
- Multi-Scale Robotics Lab, Swiss Federal Institute of Technology (ETH) Zurich, Switzerland
| | | | - Bradley J. Nelson
- Multi-Scale Robotics Lab, Swiss Federal Institute of Technology (ETH) Zurich, Switzerland
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35
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Ryan P, Diller E. Magnetic Actuation for Full Dexterity Microrobotic Control Using Rotating Permanent Magnets. IEEE T ROBOT 2017. [DOI: 10.1109/tro.2017.2719687] [Citation(s) in RCA: 56] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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36
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Shamsudhin N, Zverev VI, Keller H, Pane S, Egolf PW, Nelson BJ, Tishin AM. Magnetically guided capsule endoscopy. Med Phys 2017; 44:e91-e111. [PMID: 28437000 DOI: 10.1002/mp.12299] [Citation(s) in RCA: 35] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/02/2016] [Revised: 02/22/2017] [Accepted: 04/13/2017] [Indexed: 12/18/2022] Open
Abstract
Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air- and fluid-filled lumina and cavities in the body for minimally invasive medicine.
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Affiliation(s)
- Naveen Shamsudhin
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH 8092, Switzerland
| | - Vladimir I Zverev
- Faculty of Physics, M.V. Lomonosov Moscow State University, Moscow, 119991, Russia
| | - Henrik Keller
- KUKA Roboter GmbH, Zugspitzstrasse 140, Augsburg, 86165, Germany
| | - Salvador Pane
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH 8092, Switzerland
| | - Peter W Egolf
- Institute of Thermal Sciences and Engineering, University of Applied Sciences of Western Switzerland, Yverdon-les-Bains, CH 1401, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH 8092, Switzerland
| | - Alexander M Tishin
- Faculty of Physics, M.V. Lomonosov Moscow State University, Moscow, 119991, Russia.,Pharmag LLC, Promyshlennaya st 4, Troitsk, Moscow, 142190, Russia
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37
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Kratchman LB, Bruns TL, Abbott JJ, Webster RJ. Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications. IEEE T ROBOT 2016; 33:227-233. [PMID: 29230134 DOI: 10.1109/tro.2016.2623339] [Citation(s) in RCA: 47] [Impact Index Per Article: 5.9] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/24/2022]
Abstract
Magnet-tipped, elastic rods can be steered by an external magnetic field to perform surgical tasks. Such rods could be useful for a range of new medical applications because they do not require either pull wires or other bulky mechanisms that are problematic in small anatomical regions. However, current magnetic rod steering systems are large and expensive. Here, we describe a method to guide a rod using a robot-manipulated magnet located near a patient. We solve for rod deflections by combining permanent-magnet models with a Kirchhoff elastic rod model and use a resolved-rate approach to compute trajectories. Experiments show that three-dimensional trajectories can be executed accurately without feedback and that the system's redundancy can be exploited to avoid obstacles.
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Affiliation(s)
- Louis B Kratchman
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA
| | - Trevor L Bruns
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA
| | - Jake J Abbott
- Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112 USA
| | - Robert J Webster
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA, robert
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38
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Nothnagel N, Rahmer J, Gleich B, Halkola A, Buzug TM, Borgert J. Steering of Magnetic Devices With a Magnetic Particle Imaging System. IEEE Trans Biomed Eng 2016; 63:2286-2293. [PMID: 27046918 DOI: 10.1109/tbme.2016.2524070] [Citation(s) in RCA: 24] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
Small magnetic devices have been steered in arbitrary direction and with variable force using a preclinical demonstrator system for magnetic particle imaging (MPI). Fast localization due to the high imaging rate of over 40 volumes/s and strong forces due to the high field gradient of more than 1 T/m render an MPI system, a good platform for image-guided steering of magnetic devices. In this paper, these capabilities are demonstrated in phantom experiments, where a closed feedback loop has been realized to exert translational forces in horizontal and vertical direction on a magnetic device moving in a viscous medium. The MPI system allows for the controlled application of those forces by combining variable homogeneous fields with strong field gradients.
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39
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Kwack WG, Lim YJ. Current Status and Research into Overcoming Limitations of Capsule Endoscopy. Clin Endosc 2016; 49:8-15. [PMID: 26855917 PMCID: PMC4743729 DOI: 10.5946/ce.2016.49.1.8] [Citation(s) in RCA: 23] [Impact Index Per Article: 2.9] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 08/11/2015] [Revised: 09/16/2015] [Accepted: 09/16/2015] [Indexed: 12/13/2022] Open
Abstract
Endoscopic investigation has a critical role in the diagnosis and treatment of gastrointestinal (GI) diseases. Since 2001, capsule endoscopy (CE) has been available for small-bowel exploration and is under continuous development. During the past decade, CE has achieved impressive improvements in areas such as miniaturization, resolution, and battery life. As a result, CE is currently a first-line tool for the investigation of the small bowel in obscure gastrointestinal bleeding and is a useful alternative to wired enteroscopy. Nevertheless, CE still has several limitations, such as incomplete examination and limited diagnostic and therapeutic capabilities. To resolve these problems, many groups have suggested several models (e.g., controlled CO2 insufflation system, magnetic navigation system, mobile robotic platform, tagging and biopsy equipment, and targeted drug-delivery system), which are in development. In the near future, new technological advances will improve the capabilities of CE and broaden its spectrum of applications not only for the small bowel but also for the colon, stomach, and esophagus. The purpose of this review is to introduce the current status of CE and to review the ongoing development of solutions to address its limitations.
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Affiliation(s)
- Won Gun Kwack
- Department of Internal Medicine, Dongguk University Ilsan Hospital, Dongguk University College of Medicine, Goyang, Korea
| | - Yun Jeong Lim
- Department of Internal Medicine, Dongguk University Ilsan Hospital, Dongguk University College of Medicine, Goyang, Korea
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40
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Le VNT, Nguyen NH, Alameh K, Weerasooriya R, Pratten P. Accurate modeling and positioning of a magnetically controlled catheter tip. Med Phys 2016; 43:650-63. [DOI: 10.1118/1.4939228] [Citation(s) in RCA: 28] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/14/2022] Open
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41
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Singeap AM, Stanciu C, Trifan A. Capsule endoscopy: The road ahead. World J Gastroenterol 2016; 22:369-378. [PMID: 26755883 PMCID: PMC4698499 DOI: 10.3748/wjg.v22.i1.369] [Citation(s) in RCA: 29] [Impact Index Per Article: 3.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 05/05/2015] [Revised: 08/04/2015] [Accepted: 09/30/2015] [Indexed: 02/07/2023] Open
Abstract
Since its introduction into clinical practice 15 years ago, capsule endoscopy (CE) has become the first-line investigation procedure in some small bowel pathologies, and more recently, dedicated esophageal and colon CE have expanded the fields of application to include the upper and lower gastrointestinal disorders. During this time, CE has become increasingly popular among gastroenterologists, with more than 2 million capsule examinations performed worldwide, and nearly 3000 PubMed-listed studies on its different aspects published. This huge interest in CE may be explained by its non-invasive nature, patient comfort, safety, and access to anatomical regions unattainable via conventional endoscopy. However, CE has several limitations which impede its wider clinical applications, including the lack of therapeutic capabilities, inability to obtain biopsies and control its locomotion. Several research groups are currently working to overcome these limitations, while novel devices able to control capsule movement, obtain high quality images, insufflate the gut lumen, perform chromoendoscopy, biopsy of suspect lesions, or even deliver targeted drugs directly to specific sites are under development. Overlooking current limitations, especially as some of them have already been successfully surmounted, and based on the tremendous progress in technology, it is expected that, by the end of next 15 years, CE able to perform both diagnostic and therapeutic procedures will remain the major form of digestive endoscopy. This review summarizes the literature that prognosticates about the future developments of CE.
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43
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44
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Tu SJ, Yang PY, Hong JH, Lo CJ. Quantitative dosimetric assessment for effect of gold nanoparticles as contrast media on radiotherapy planning. Radiat Phys Chem Oxf Engl 1993 2013. [DOI: 10.1016/j.radphyschem.2013.03.019] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/27/2022]
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45
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Chorny M, Fishbein I, Tengood JE, Adamo RF, Alferiev IS, Levy RJ. Site-specific gene delivery to stented arteries using magnetically guided zinc oleate-based nanoparticles loaded with adenoviral vectors. FASEB J 2013; 27:2198-206. [PMID: 23407712 DOI: 10.1096/fj.12-224659] [Citation(s) in RCA: 28] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/20/2023]
Abstract
Gene therapeutic strategies have shown promise in treating vascular disease. However, their translation into clinical use requires pharmaceutical carriers enabling effective, site-specific delivery as well as providing sustained transgene expression in blood vessels. While replication-deficient adenovirus (Ad) offers several important advantages as a vector for vascular gene therapy, its clinical applicability is limited by rapid inactivation, suboptimal transduction efficiency in vascular cells, and serious systemic adverse effects. We hypothesized that novel zinc oleate-based magnetic nanoparticles (MNPs) loaded with Ad would enable effective arterial cell transduction by shifting vector processing to an alternative pathway, protect Ad from inactivation by neutralizing factors, and allow site-specific gene transfer to arteries treated with stent angioplasty using a 2-source magnetic guidance strategy. Ad-loaded MNPs effectively transduced cultured endothelial and smooth muscle cells under magnetic conditions compared to controls and retained capacity for gene transfer after exposure to neutralizing antibodies and lithium iodide, a lytic agent causing disruption of free Ad. Localized arterial gene expression significantly stronger than in control animal groups was demonstrated after magnetically guided MNP delivery in a rat stenting model 2 and 9 d post-treatment, confirming feasibility of using Ad-loaded MNPs to achieve site-specific transduction in stented blood vessels. In conclusion, Ad-loaded MNPs formed by controlled precipitation of zinc oleate represent a novel delivery system, well-suited for efficient, magnetically targeted vascular gene transfer.
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Affiliation(s)
- Michael Chorny
- Division of Cardiology, The Children's Hospital of Philadelphia, Philadelphia, PA 19104-4318, USA.
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46
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Martel S. Microrobotics in the vascular network: present status and next challenges. JOURNAL OF MICRO-BIO ROBOTICS 2013. [DOI: 10.1007/s12213-012-0054-0] [Citation(s) in RCA: 30] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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47
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Keller J, Fibbe C, Rosien U, Layer P. Recent advances in capsule endoscopy: development of maneuverable capsules. Expert Rev Gastroenterol Hepatol 2012; 6:561-6. [PMID: 23061707 DOI: 10.1586/egh.12.26] [Citation(s) in RCA: 20] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 12/28/2022]
Abstract
One important disadvantage of modern capsule endoscopy is its lack of maneuverability. Thus, clinically available systems depend on transportation by spontaneous gastrointestinal motility. Even in subjects with normal motility, transit time for different intestinal segments may vary considerably, and relevant segments may be passed too quickly. This probably explains why approximately 10% of all pathologies are overlooked during small bowel investigations. Moreover, without maneuverable capsule endoscopes, the large inner surface of the stomach cannot be investigated properly. The most advanced approaches, which try to develop maneuverable systems for targeted inspection of the GI tract, use magnetic fields for steering of a videocapsule with magnetic inclusions. With such systems, preliminary clinical studies have already been performed. Other projects try to develop biologically inspired steering mechanisms such as capsules that can move on legs or they use electrical stimulation of the intestinal wall in order to induce contractions for propulsion of the videocapsule.
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Affiliation(s)
- Jutta Keller
- Department of Internal Medicine, University of Hamburg, Israelitic Hospital, Hamburg, Germany.
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Abstract
Now, more than 10 years after the approval of video capsule endoscopy (VCE), the technology has become an essential component in the management of several clinical conditions. Currently, two capsules are approved in the USA for visualizing the small bowel mucosa, one capsule is authorized for oesophageal assessment and several others are in use or under evaluation worldwide. New investigations have focused on optical improvements, advances in intestinal cleansing and risk reduction strategies to optimize VCE methodologies in clinical care. Established indications diagnosed using VCE include unexplained gastrointestinal bleeding, small bowel Crohn's disease (in adults and children >10 years old), localization of small bowel tumours and a broad range of miscellaneous abnormalities. Investigations are ongoing to determine the utility of VCE in colon cancer screening, assessment of oesophageal disorders and diagnosis of coeliac disease. Active research is in progress into ways to improve the efficacy of VCE recording interpretation, prolong imaging time and further enhance optics and imaging methods. To expand the potential utility of VCE, novel devices that can manoeuvre within or insufflate the gut lumen, tag or biopsy suspect lesions, or target drug delivery to specific sites are in development. To facilitate these advances, consortia have been organized to promote innovative VCE technologies.
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49
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Lien GS, Liu CW, Jiang JA, Chuang CL, Teng MT. Magnetic control system targeted for capsule endoscopic operations in the stomach--design, fabrication, and in vitro and ex vivo evaluations. IEEE Trans Biomed Eng 2012; 59:2068-79. [PMID: 22581127 DOI: 10.1109/tbme.2012.2198061] [Citation(s) in RCA: 78] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
This paper presents a novel solution of a hand-held external controller to a miniaturized capsule endoscope in the gastrointestinal (GI) tract. Traditional capsule endoscopes move passively by peristaltic wave generated in the GI tract and the gravity, which makes it impossible for endoscopists to manipulate the capsule endoscope to the diagnostic disease areas. In this study, the main objective is to present an endoscopic capsule and a magnetic field navigator (MFN) that allows endoscopists to remotely control the locomotion and viewing angle of an endoscopic capsule. The attractive merits of this study are that the maneuvering of the endoscopic capsule can be achieved by the external MFN with effectiveness, low cost, and operation safety, both from a theoretical and an experimental point of view. In order to study the magnetic interactions between the endoscopic capsule and the external MFN, a magnetic-analysis model is established for computer-based finite-element simulations. In addition, experiments are conducted to show the control effectiveness of the MFN to the endoscopic capsule. Finally, several prototype endoscopic capsules and a prototype MFN are fabricated, and their actual capabilities are experimentally assessed via in vitro and ex vivo tests using a stomach model and a resected porcine stomach, respectively. Both in vitro and ex vivo test results demonstrate great potential and practicability of achieving high-precision rotation and controllable movement of the capsule using the developed MFN.
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Affiliation(s)
- Gi-Shih Lien
- Department of Internal Medicine, Wan Fang Hospital, Taipei Medical University, Taipei 116, Taiwan.
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Smart Self-Assembling MagnetS for ENdoscopy (SAMSEN) for transoral endoscopic creation of immediate gastrojejunostomy (with video). Gastrointest Endosc 2011; 73:353-9. [PMID: 21183179 DOI: 10.1016/j.gie.2010.10.024] [Citation(s) in RCA: 48] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 06/30/2010] [Accepted: 10/13/2010] [Indexed: 02/07/2023]
Abstract
BACKGROUND Gastrojejunostomy is important for palliation of malignant gastric outlet obstruction and surgical obesity procedures. A less-invasive endoscopic technique for gastrojejunostomy creation is conceptually attractive. Our group has developed a compression anastomosis technology based on endoscopically delivered self-assembling magnets for endoscopy (SAMSEN) to create an instant, large-caliber gastrojejunostomy. OBJECTIVE To develop and evaluate an endoscopic means of gastrojejunostomy creation by using SAMSEN. SETTING Developmental laboratory and animal facility. DESIGN Animal study and human cadaveric study. SUBJECTS Yorkshire pigs (7 cadaver, 5 acute); human (1 cadaver). INTERVENTIONS A transoral procedure for SAMSEN delivery was developed in porcine and human cadaver models. Subsequently, gastrojejunostomy creation by using SAMSEN was performed in 5 acute pigs. The endoscope was advanced into the peritoneal cavity through the gastrotomy, and a segment of the small bowel was grasped and pulled closer to the stomach. An enterotomy was created, and a custom overtube was advanced into the small bowel for deployment of the first magnetic assembly. Next, a reciprocal magnetic assembly was deployed in the stomach. The 2 magnetic systems were mated under fluoroscopic and endoscopic guidance. Contrast studies assessed for gastrojejunostomy leak. Immediate necropsies were performed. MAIN OUTCOME MEASUREMENTS Technical feasibility and complications. RESULTS Gastrojejunostomy creation by using SAMSEN was successful in all 5 animals. Deep enteroscopy was performed through the stoma without difficulty. No leaks were identified on contrast evaluation. At necropsy, the magnets were properly deployed and robustly coupled together, resistant to vigorous tissue manipulation. LIMITATIONS Acute animal study. CONCLUSIONS Endoscopic creation of immediate gastrojejunostomy by using SAMSEN is technically feasible.
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